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beaglebone: handle gpio pinmux without relying on specific pre-existing setup 

Signed-off-by: deadprogram <ron@hybridgroup.com>
This commit is contained in:
deadprogram 2017-12-14 14:54:42 +01:00
parent c10828baf9
commit 07a24b2f69
3 changed files with 44 additions and 29 deletions
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27
platforms/beaglebone/beaglebone_adaptor.go
View File

@ -15,6 +15,11 @@ import (
"gobot.io/x/gobot/sysfs"
)
type pwmPinData struct {
channel int
path string
}
const pwmDefaultPeriod = 500000
// Adaptor is the gobot.Adaptor representation for the Beaglebone
@ -26,6 +31,9 @@ type Adaptor struct {
usrLed string
analogPath string
slots string
pinMap map[string]int
pwmPinMap map[string]pwmPinData
analogPinMap map[string]string
mutex *sync.Mutex
}
@ -37,6 +45,9 @@ func NewAdaptor() *Adaptor {
pwmPins: make(map[string]*sysfs.PWMPin),
i2cBuses: make(map[int]i2c.I2cDevice),
mutex: &sync.Mutex{},
pinMap: bbbPinMap,
pwmPinMap: bbbPwmPinMap,
analogPinMap: bbbAnalogPinMap,
}
b.setSlots()
@ -163,6 +174,10 @@ func (b *Adaptor) DigitalPin(pin string, dir string) (sysfsPin sysfs.DigitalPinn
}
if b.digitalPins[i] == nil {
b.digitalPins[i] = sysfs.NewDigitalPin(i)
if err = muxPin(pin, "gpio"); err != nil {
return
}
err := b.digitalPins[i].Export()
if err != nil {
return nil, err
@ -188,7 +203,7 @@ func (b *Adaptor) PWMPin(pin string) (sysfsPin sysfs.PWMPinner, err error) {
newPin := sysfs.NewPWMPin(pinInfo.channel)
newPin.Path = pinInfo.path
if err = muxPWMPin(pin); err != nil {
if err = muxPin(pin, "pwm"); err != nil {
return
}
if err = newPin.Export(); err != nil {
@ -256,7 +271,7 @@ func (b *Adaptor) GetDefaultBus() int {
// translatePin converts digital pin name to pin position
func (b *Adaptor) translatePin(pin string) (value int, err error) {
if val, ok := pins[pin]; ok {
if val, ok := b.pinMap[pin]; ok {
value = val
} else {
err = errors.New("Not a valid pin")
@ -265,7 +280,7 @@ func (b *Adaptor) translatePin(pin string) (value int, err error) {
}
func (b *Adaptor) translatePwmPin(pin string) (p pwmPinData, err error) {
if val, ok := pwmPins[pin]; ok {
if val, ok := b.pwmPinMap[pin]; ok {
p = val
} else {
err = errors.New("Not a valid PWM pin")
@ -275,7 +290,7 @@ func (b *Adaptor) translatePwmPin(pin string) (p pwmPinData, err error) {
// translateAnalogPin converts analog pin name to pin position
func (b *Adaptor) translateAnalogPin(pin string) (value string, err error) {
if val, ok := analogPins[pin]; ok {
if val, ok := b.analogPinMap[pin]; ok {
value = val
} else {
err = errors.New("Not a valid analog pin")
@ -316,13 +331,13 @@ func ensureSlot(slots, item string) (err error) {
return
}
func muxPWMPin(pin string) error {
func muxPin(pin, cmd string) error {
path := fmt.Sprintf("/sys/devices/platform/ocp/ocp:%s_pinmux/state", pin)
fi, e := sysfs.OpenFile(path, os.O_WRONLY, 0666)
defer fi.Close()
if e != nil {
return e
}
_, e = fi.WriteString("pwm")
_, e = fi.WriteString(cmd)
return e
}

7
platforms/beaglebone/beaglebone_adaptor_test.go
View File

@ -29,8 +29,11 @@ func TestBeagleboneAdaptor(t *testing.T) {
"/dev/i2c-2",
"/sys/devices/platform/bone_capemgr",
"/sys/devices/platform/bone_capemgr/slots",
"/sys/devices/platform/ocp/ocp:P9_21_pinmux/state",
"/sys/devices/platform/ocp/ocp:P8_7_pinmux/state",
"/sys/devices/platform/ocp/ocp:P9_11_pinmux/state",
"/sys/devices/platform/ocp/ocp:P9_12_pinmux/state",
"/sys/devices/platform/ocp/ocp:P9_22_pinmux/state",
"/sys/devices/platform/ocp/ocp:P9_21_pinmux/state",
"/sys/class/leds/beaglebone:green:usr1/brightness",
"/sys/bus/iio/devices/iio:device0/in_voltage1_raw",
"/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0/export",
@ -204,6 +207,7 @@ func TestBeagleboneDigitalPinDirectionFileError(t *testing.T) {
"/sys/devices/platform/bone_capemgr/slots",
"/sys/class/gpio/export",
"/sys/class/gpio/gpio60/value",
"/sys/devices/platform/ocp/ocp:P9_12_pinmux/state",
})
sysfs.SetFilesystem(fs)
@ -223,6 +227,7 @@ func TestBeagleboneDigitalPinFinalizeFileError(t *testing.T) {
"/sys/class/gpio/export",
"/sys/class/gpio/gpio60/value",
"/sys/class/gpio/gpio60/direction",
"/sys/devices/platform/ocp/ocp:P9_12_pinmux/state",
})
sysfs.SetFilesystem(fs)

13
platforms/beaglebone/beaglebone_pins.go
View File

@ -1,11 +1,6 @@
package beaglebone
type pwmPinData struct {
channel int
path string
}
var pins = map[string]int{
var bbbPinMap = map[string]int{
// P8_1 - P8_2 GND
// P8_3 - P8_6 EMCC
"P8_7": 66,
@ -54,7 +49,7 @@ var pins = map[string]int{
"P9_31": 110,
}
var pwmPins = map[string]pwmPinData{
var bbbPwmPinMap = map[string]pwmPinData{
"P8_13": {path: "/sys/devices/platform/ocp/48304000.epwmss/48304200.pwm/pwm/pwmchip4", channel: 1},
"P8_19": {path: "/sys/devices/platform/ocp/48304000.epwmss/48304200.pwm/pwm/pwmchip4", channel: 0},
@ -62,10 +57,10 @@ var pwmPins = map[string]pwmPinData{
"P9_16": {path: "/sys/devices/platform/ocp/48302000.epwmss/48302200.pwm/pwm/pwmchip2", channel: 1},
"P9_21": {path: "/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0", channel: 1},
"P9_22": {path: "/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0", channel: 0},
//"P9_42": {path: "", channel: 0}, TODO: implement this pwm
"P9_42": {path: "/sys/devices/platform/ocp/48300000.epwmss/48300100.ecap/pwm/pwmchip0", channel: 0},
}
var analogPins = map[string]string{
var bbbAnalogPinMap = map[string]string{
"P9_39": "in_voltage0_raw",
"P9_40": "in_voltage1_raw",
"P9_37": "in_voltage2_raw",